diff --git a/docs/agents/acu_agent.rst b/docs/agents/acu_agent.rst
index c02faa020..13e3be5d4 100644
--- a/docs/agents/acu_agent.rst
+++ b/docs/agents/acu_agent.rst
@@ -90,6 +90,7 @@ example configuration block is below::
                 'upper': 360.,
             },
             'acc': (8./1.88),
+            'axes_sequential': False,
         },
     }
 
diff --git a/socs/agents/acu/agent.py b/socs/agents/acu/agent.py
index c31942a7c..c2edbf716 100644
--- a/socs/agents/acu/agent.py
+++ b/socs/agents/acu/agent.py
@@ -2118,12 +2118,13 @@ def _reset_sun_params(self, enabled=None, radius=None):
         _p['active_avoidance'] = config['enabled']
         _p['policy'] = config['policy']
 
-        # And add in platform limits
+        # And add in platform limits and move policies
         _p['policy'].update({
             'min_az': self.motion_limits['azimuth']['lower'],
             'max_az': self.motion_limits['azimuth']['upper'],
             'min_el': self.motion_limits['elevation']['lower'],
             'max_el': self.motion_limits['elevation']['upper'],
+            'axes_sequential': self.motion_limits.get('axes_sequential', False),
         })
 
         self.sun_params = _p
@@ -2598,10 +2599,23 @@ def _get_sunsafe_moves(self, target_az, target_el, zero_legs_ok=True):
         the target position in it.
 
         When Sun avoidance is not enabled, this function returns as
-        though the direct path to the target is a safe one.
+        though the direct path to the target is a safe one (though
+        axes_sequential=True may turn this into a move with two legs).
 
         """
+        # Get current position.
+        try:
+            az, el = [self.data['status']['summary'][f'{ax}_current_position']
+                      for ax in ['Azimuth', 'Elevation']]
+            if az is None or el is None:
+                raise KeyError
+        except KeyError:
+            return None, 'Current position could not be determined.'
+
         if not self._get_sun_policy('sunsafe_moves'):
+            if self.motion_limits.get('axes_sequential'):
+                # Move in az first, then el.
+                return [(target_az, el), (target_az, target_el)], None
             return [(target_az, target_el)], None
 
         if not self._get_sun_policy('map_valid'):
@@ -2611,15 +2625,6 @@ def _get_sunsafe_moves(self, target_az, target_el, zero_legs_ok=True):
         if self.sun.check_trajectory([target_az], [target_el])['sun_time'] <= 0:
             return None, 'Requested target position is not Sun-Safe.'
 
-        # Ok, so where are we now ...
-        try:
-            az, el = [self.data['status']['summary'][f'{ax}_current_position']
-                      for ax in ['Azimuth', 'Elevation']]
-            if az is None or el is None:
-                raise KeyError
-        except KeyError:
-            return None, 'Current position could not be determined.'
-
         moves = self.sun.analyze_paths(az, el, target_az, target_el)
         move, decisions = self.sun.select_move(moves)
         if move is None:
diff --git a/socs/agents/acu/avoidance.py b/socs/agents/acu/avoidance.py
index 9bb96db76..8309e539d 100644
--- a/socs/agents/acu/avoidance.py
+++ b/socs/agents/acu/avoidance.py
@@ -60,6 +60,12 @@
     setting only affects point-to-point motions; "escape" paths will
     always consider all available elevations.
 
+  ``axes_sequential``
+    If True, a point-to-point motion will only be accepted if the legs
+    each move only in az or only in el.  When this is False, legs that
+    move simultaneously in az and el are permitted (and probably
+    preferred) as long as they are safe.
+
 
 A "Sun-safe" position is a pointing of the boresight that currently
 has a ``sun_time`` that meets or exceeds the ``min_sun_time``
@@ -100,6 +106,7 @@
     'el_dodging': False,
     'min_sun_time': HOUR,
     'response_time': HOUR * 4,
+    'axes_sequential': False,
 }
 
 
@@ -557,6 +564,10 @@ def reject(d, reason):
 
             els = m['req_start'][1], m['req_stop'][1]
 
+            if _p['axes_sequential'] and m['moves'].includes_mixed_moves():
+                reject(d, 'Path includes simultaneous az+el legs (forbidden in policy).')
+                continue
+
             if (m['sun_time_start'] < _p['min_sun_time']):
                 # If the path is starting in danger zone, then only
                 # enforce that the move takes the platform to a better place.
@@ -688,3 +699,13 @@ def get_traj(self, res=0.5):
             xx.append(np.linspace(x0, x1, n))
             yy.append(np.linspace(y0, y1, n))
         return np.hstack(tuple(xx)), np.hstack(tuple(yy))
+
+    def includes_mixed_moves(self):
+        """Returns True if any of the legs include simultaneous
+        changes in az and el.
+
+        """
+        for (x0, y0), (x1, y1) in self.get_legs():
+            if (x0 != x1) + (y0 != y1) > 1:
+                return True
+        return False
diff --git a/tests/agents/test_acu_agent.py b/tests/agents/test_acu_agent.py
index dc928c3a9..d046b2237 100644
--- a/tests/agents/test_acu_agent.py
+++ b/tests/agents/test_acu_agent.py
@@ -33,6 +33,14 @@ def test_avoidance():
     assert path is not None
     assert len(path['moves'].nodes) == 2
 
+    # .. even if policy forbids mixed-axis moves
+    sun.policy['axes_sequential'] = True
+    paths = sun.analyze_paths(270.01, 40.01, 270, 40)
+    path, analysis = sun.select_move(paths)
+    assert path is not None
+    assert len(path['moves'].nodes) == 3
+    del sun.policy['axes_sequential']
+
     # Find safe paths to here (no moves)
     paths = sun.analyze_paths(270, 40, 270, 40)
     path, analysis = sun.select_move(paths)